MeMBer filter for manoeuvring targets

This paper will introduce a new Multitarget Multi-Bernoulli (MeMBer) recursion for tracking targets traveling under multiple motion models. The proposed interacting multiple model MeMBer (IMM-MeMBer) filter uses Jump Markov Models (JMM) to extended the basic MeMBer recursion to allow for multiple motion models. This extension is implemented using both the SMC and GM based MeMBer approximations. The recursive prediction and update equations are presented for both implementations. Each multiple model implementation is validated against its respective standard MeMBer implementation as well as against each other. This validation is done using a simulated scenario containing multiple maneuvering targets. A variety of metrics are observed including target detection capability, estimate accuracy and model likelihood determination.

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